“…The VTHI scheme, as well as the constant third harmonic injection (CTHI) one (Duran et al, 2008), is based on PI controllers for the speed loop. This is the standard control scheme in five-phase drives with field oriented control (FOC) and direct torque control (DTC) (Gao & Parsa, 2007;Levi, Jones, Vukosavic, Iqbal, & Toliyat, 2007a;Vukosavic, Jones, Levi, & Dujic, 2008;Zheng et al, 2008).…”